# DJI_DRIVER

**Repository Path**: Ljunius/dji_-driver

## Basic Information

- **Project Name**: DJI_DRIVER
- **Description**: C610,C620驱动板，可驱动m3508和m2006
- **Primary Language**: C
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 3
- **Created**: 2020-10-28
- **Last Updated**: 2024-11-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 大疆驱动板v1使用说明

## 前言

> 此驱动板代码基于东北大学action实验室开源项目，[rm3508_can_opensource](https://github.com/NEUACTION/rm3508_can_opensource)
>
> 可用于大疆rm3508和m2006电机的控制，最多可控制4个电机(可拓展到8个)

## 控制逻辑图

![1](https://gitee.com/Ljunius/dji_-driver/raw/master/1.png)

## 使用方法

####  驱动板设置

> 配置电机名称
>
> 修改ctrl.c文件下的motorType数组，代表控制的4个电机。
>
> ```C
> int motorType[8] = {
> 	M_2006,
> 	M_2006,
> 	M_2006,
> 	M_2006,
> 	NONE,
> 	NONE,
> 	NONE,
> 	NONE
> };
> ```
>
> ```C
>typedef enum
> { 
> RM_3508   = 1, 
> M_2006    = 2,
>   NONE      = 3  //none
>   
>   }MotorType_TypeDef;
> ```

#### 主控板设置

> 加入dji_ctr.c和dji_ctr.h文件
>
> 可直接用dji_ctr.h中的控制函数发送相应命令
>
> 控制命令如下
>
> ![2](https://gitee.com/Ljunius/dji_-driver/raw/master/2.png)
>
> 如要读取信息还需修改两处
>
> 1. can_utils.c文件的can过滤数组
>
> ```C
> uint32_t std_id[] = {1,0x281};
> ```
>
> 2. 同时在can_func.c中增加接受函数
>
> ```C
> //添加接收canId
> void can_func_init() {
>     #ifdef SL_DEBUG
>     can_callback_add(1, can_suc_rx);
>     can_callback_add(325, can_show_button);
>     can_callback_add(324, can_show_rocker);
>     #endif
>     can_callback_add(0x281, can_read_motor);
> }
> //增加接收函数
> void can_read_motor(can_msg *data)
> {
>     int id = (data->in[0])>>16;
>     int index = ((data->in[0])<<16)>>16; 
>     
>     if(index == 0x00005850){
>         //位置信息
>         int num = data->in[1];
>         Motor[id].pos = num;
>         uprintf("motor %d's pos =%d\r\n",id,num);
>         
>     }
>     else if(index == 0x00005856){
>         //速度信息
>         int num = data->in[1];
>         Motor[id].vel = num;
>         uprintf("motor %d's vel =%d\r\n",id,num/1000);
>     }
>     else if(index == 0x00005149){
>         //电流信息
>         float num = data->fl[1];
>         Motor[id].cur = (int)num;
>         uprintf("motor %d's cur =%f\r\n",id,num);
>     }
> }
> ```
> 
> can_func.h中增加定义
> 
> ```C
> void can_read_motor(can_msg *data);
> ```

## 调试

#### 主控板

> 在cmd_func.c中增加调试指令
>
> ```C
> //增加头文件
> #include "dji_ctr.h"
> 
> //cmd_func_init中增加
> cmd_add("sendmsg","set id",cmd_send_msg);
> 
> //增加调试函数
> void cmd_send_msg(int argc, char *argv[]){
>     if(strcmp(argv[1],"motoron")==0){
>         uprintf("motor%d is on\r\n",atoi(argv[2]));
>         MotorOn(CAN1 , atoi(argv[2]));
>     }
>     else if(strcmp(argv[1],"motoroff")==0){
>         uprintf("motor%d is off\r\n",atoi(argv[2]));
>         MotorOff(CAN1 , atoi(argv[2]));
>     }
>     else if(strcmp(argv[1],"velcfg")==0){
>         uprintf("motor%d's mode changes to velloopmode\r\n",atoi(argv[2]));
>         VelLoopCfg(CAN1, atoi(argv[2]), 0, 0);
>     }
>     else if(strcmp(argv[1],"poscfg")==0){
>         uprintf("motor%d's mode changes to posloopmode,maxv is %d\r\n",atoi(argv[2]),atoi(argv[3]));
>         PosLoopCfg(CAN1, atoi(argv[2]), 0, 0, atoi(argv[3]));
>     }
>     else if(strcmp(argv[1],"curcfg")==0){
>         uprintf("motor%d's mode changes to curloopmode\r\n",atoi(argv[2]));
>         CurLoopCfg(CAN1, atoi(argv[2]));
>     }
>     else if(strcmp(argv[1],"velctr")==0){
>         uprintf("motor%d's speed is set to %d\r\n",atoi(argv[2]),atoi(argv[3]));
>         VelCrl(CAN1, atoi(argv[2]), atoi(argv[3]));
>     }
>     else if(strcmp(argv[1],"posctr")==0)
>     {
>         uprintf("motor%d's pos is set to %d\r\n",atoi(argv[2]),atoi(argv[3]));
>         PosCrl(CAN1, atoi(argv[2]), ABSOLUTE_MODE, atoi(argv[3]));
>     }
>     else if(strcmp(argv[1],"curctr")==0){
>         uprintf("motor%d's pos is set to %d\r\n",atoi(argv[2]),atoi(argv[3]));
>         CurCrl(CAN1, atoi(argv[2]), atoi(argv[3]));
>     }
>     else if(strcmp(argv[1],"qcur")==0)
>     {
>         uprintf("query for motor%d's cur\r\n",atoi(argv[2]));
>         ReadActualCur(CAN1, atoi(argv[2]));
>     }
>     else if(strcmp(argv[1],"qpos")==0){
>         uprintf("query for motor%d's pos\r\n",atoi(argv[2]));
>         ReadActualPos(CAN1, atoi(argv[2]));
>     }
>     else if(strcmp(argv[1],"qvel")==0){
>         uprintf("query for motor%d's vel\r\n",atoi(argv[2]));
>         ReadActualVel(CAN1, atoi(argv[2]));
>     }
>     else if(strcmp(argv[1],"setallvel")==0){
>         if(argc < 6){
>             uprintf("parameter error\r\n");
>             return;
>         }
>         uprintf("set all vel");
>         uint16_t vel[4];
>         for(int i = 0; i < 4 ; i++){
>             vel[i] = atoi(argv[2+i]);
>             uprintf("%d ",vel[i]);
>         }
>         uprintf("\r\n");
>         velCtrAll(vel);
>     }
>     else if(strcmp(argv[1],"setallpos")==0){
>         if(argc < 6){
>             uprintf("parameter error\r\n");
>             return;
>         }
>         uprintf("set all pos");
>         uint16_t pos[4];
>         for(int i = 0; i < 4 ; i++){
>             pos[i] = atoi(argv[2+i]);
>             uprintf("%d ",pos[i]);
>         }
>         uprintf("\r\n");
>         posCtrAll(pos);
>     }
> }
> ```

#### 驱动板

>驱动板中有串口调试命令，默认串口3
>
>见usart.c
>
>例如： JV=1000000
>
>可用 tool_box示波器调试，用指令：WV=num(num为电机id1~8，0为关闭)打开示波器